EP2902319B1 - Véhicule aérien sans pilote - Google Patents

Véhicule aérien sans pilote Download PDF

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Publication number
EP2902319B1
EP2902319B1 EP14382029.8A EP14382029A EP2902319B1 EP 2902319 B1 EP2902319 B1 EP 2902319B1 EP 14382029 A EP14382029 A EP 14382029A EP 2902319 B1 EP2902319 B1 EP 2902319B1
Authority
EP
European Patent Office
Prior art keywords
unmanned aerial
aerial vehicle
vehicle
camera
hover
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP14382029.8A
Other languages
German (de)
English (en)
Other versions
EP2902319A1 (fr
Inventor
Alfredo Criado
Grzegorz M. Kawiecki
Omar Valero
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Boeing Co
Original Assignee
Boeing Co
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Boeing Co filed Critical Boeing Co
Priority to ES14382029T priority Critical patent/ES2746980T3/es
Priority to EP14382029.8A priority patent/EP2902319B1/fr
Priority to CA2872028A priority patent/CA2872028C/fr
Priority to KR1020140173501A priority patent/KR102252165B1/ko
Priority to US14/608,014 priority patent/US10589857B2/en
Publication of EP2902319A1 publication Critical patent/EP2902319A1/fr
Application granted granted Critical
Publication of EP2902319B1 publication Critical patent/EP2902319B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C37/00—Convertible aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface 
    • B64C25/34—Alighting gear characterised by elements which contact the ground or similar surface  wheeled type, e.g. multi-wheeled bogies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
    • B64C29/02—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis vertical when grounded
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/10—All-wing aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/293—Foldable or collapsible rotors or rotor supports
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/50—Testing of electric apparatus, lines, cables or components for short-circuits, continuity, leakage current or incorrect line connections
    • G01R31/58—Testing of lines, cables or conductors
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G06V20/176—Urban or other man-made structures
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/20—Vertical take-off and landing [VTOL] aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/25—Fixed-wing aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/90—Cooling
    • B64U20/96—Cooling using air
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B64U2101/31—UAVs specially adapted for particular uses or applications for imaging, photography or videography for surveillance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/10—Wings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/13—Propulsion using external fans or propellers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power
    • B64U50/32—Supply or distribution of electrical power generated by fuel cells
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00—Aeronautics or air transport
    • Y02T50/10—Drag reduction

Claims (13)

  1. Véhicule aérien sans pilote adapté au vol stationnaire et au décollage et à l'atterrissage courts/verticaux (S/VTOL), le véhicule comprenant :
    un corps (100) présentant un rapport de longueur inférieur à deux, le corps comprenant un volume de charge utile ;
    deux hélices (120), dont au moins une hélice est située à l'avant du corps ;
    au moins un gouvernail de direction (140) et au moins deux volets (130) situés vers l'arrière du corps ; et
    une première caméra (190) ;
    dans lequel le corps est apte à fournir une portance lorsque de l'air circule à travers le corps avec ladite au moins une hélice à l'avant du corps ; et
    le corps étant caractérisé en ce qu'il est en outre adapté de sorte que, pendant le vol stationnaire et/ou le décollage et l'atterrissage courts/verticaux (S/VTOL), le véhicule fonctionne comme un giravion dont le corps est orienté avec ladite au moins une hélice sensiblement au-dessus du corps ;
    le véhicule est adapté de sorte que, pendant le vol horizontal, le corps est orienté sensiblement horizontalement, et de sorte que, pendant le vol stationnaire, le corps est orienté sensiblement verticalement ;
    la première caméra est montée de manière à se déplacer sur le véhicule à des fins d'utilisation pendant le vol horizontal ; et
    le véhicule comprenant en outre des secondes caméras (201, 202) agencées de manière à fonctionner lorsque le corps est orienté verticalement pendant le vol stationnaire, les secondes caméras présentant une résolution plus élevée que celle de la première caméra.
  2. Véhicule aérien sans pilote selon la revendication 1, dans lequel, pendant le décollage et l'atterrissage courts/verticaux, le corps est orienté de sorte que le véhicule fonctionne en partie comme un giravion et en partie comme un véhicule aérien à voilure fixe.
  3. Véhicule aérien sans pilote selon l'une quelconque des revendications précédentes, dans lequel le corps présente une forme en plan de Zimmerman, une forme en plan de Zimmerman inverse, une forme en plan carrée ou rectangulaire, ou une forme en plan circulaire ou elliptique, ou une forme en plan trapézoïdale symétrique par rapport à l'axe longitudinal.
  4. Véhicule aérien sans pilote selon l'une quelconque des revendications précédentes, dans lequel le corps est un corps entièrement portant à fuselage-voilure mixte.
  5. Véhicule aérien sans pilote selon l'une quelconque des revendications précédentes, dans lequel ladite au moins une hélice est montée sur un fuseau (110) s'étendant vers l'avant à partir du corps.
  6. Véhicule aérien sans pilote selon l'une quelconque des revendications précédentes, comprenant au moins deux hélices situées à l'avant du corps.
  7. Véhicule aérien sans pilote selon l'une quelconque des revendications précédentes, comprenant en outre :
    au moins un moteur électrique destiné à entraîner ladite au moins une hélice ;
    une pile à combustible (152) destinée à produire de l'électricité pour alimenter ledit au moins un moteur électrique ; et
    un conduit d'échappement (250) pour guider l'échappement de pile à combustible afin qu'il souffle à travers les volets.
  8. Véhicule aérien sans pilote selon l'une quelconque des revendications précédentes, comprenant en outre :
    une caméra supplémentaire (301) située à l'arrière du corps ;
    un processeur d'images couplé à la caméra ; et
    un système de guidage ;
    dans lequel, pendant l'atterrissage court/vertical, l'orientation du corps dirige la caméra supplémentaire vers le bas, le processeur d'images reçoit des données en provenance de la caméra supplémentaire et identifie un site d'atterrissage, et le processeur d'images communique avec le système de guidage pour guider le véhicule aérien sans pilote vers le site d'atterrissage.
  9. Véhicule aérien sans pilote selon l'une quelconque des revendications précédentes, comprenant en outre des patins de partie inférieure du corps pour les atterrissages sur patins ou sur le ventre.
  10. Procédé d'exploitation d'un véhicule aérien sans pilote, comprenant les étapes ci-dessous consistant à :
    piloter un véhicule aérien sans pilote en mode à voilure fixe avec une hélice fournissant une propulsion vers l'avant ; et
    suite à la détection d'une zone cible, donner instruction au véhicule aérien sans pilote d'entrer en vol stationnaire, ce qui amène le véhicule aérien sans pilote à changer d'orientation et à fonctionner comme un giravion ;
    le procédé étant caractérisé en ce que l'étape de pilotage consiste à piloter le véhicule aérien sans pilote en mode à voilure fixe à proximité d'une zone ou d'une structure à inspecter ;
    le procédé comprenant en outre l'étape consistant à collecter des données d'image ou de données de capteur de la zone ou de la structure, au moyen d'une caméra ou d'un capteur du véhicule aérien sans pilote ; et
    suite à la détection d'une zone cible, donner instruction au véhicule aérien sans pilote d'entrer en vol stationnaire ;
    dans lequel le changement d'orientation dirige une caméra ou un capteur vers le haut ou vers le bas au niveau de la zone cible, et la zone cible est inspectée en utilisant une résolution plus élevée que celles utilisées en vol horizontal.
  11. Procédé d'inspection selon la revendication 10, dans lequel la zone cible est sélectionnée sur la base des données d'image ou de capteur collectées de la zone ou de la structure, ladite zone cible faisant partie de la zone ou de la structure.
  12. Procédé selon la revendication 10 ou 11, dans lequel le véhicule aérien sans pilote est le véhicule aérien sans pilote selon l'une quelconque des revendications 1 à 9.
  13. Procédé d'inspection de lignes électriques, comprenant le procédé selon l'une quelconque des revendications 10 à 12, dans lequel la structure à inspecter est une ligne électrique et la zone cible inclut un défaut ou un défaut naissant.
EP14382029.8A 2014-01-30 2014-01-30 Véhicule aérien sans pilote Active EP2902319B1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
ES14382029T ES2746980T3 (es) 2014-01-30 2014-01-30 Vehículo aéreo no tripulado
EP14382029.8A EP2902319B1 (fr) 2014-01-30 2014-01-30 Véhicule aérien sans pilote
CA2872028A CA2872028C (fr) 2014-01-30 2014-11-21 Vehicule aerien sans pilote
KR1020140173501A KR102252165B1 (ko) 2014-01-30 2014-12-05 무인 항공기
US14/608,014 US10589857B2 (en) 2014-01-30 2015-01-28 Unmanned aerial vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP14382029.8A EP2902319B1 (fr) 2014-01-30 2014-01-30 Véhicule aérien sans pilote

Publications (2)

Publication Number Publication Date
EP2902319A1 EP2902319A1 (fr) 2015-08-05
EP2902319B1 true EP2902319B1 (fr) 2019-06-26

Family

ID=50679981

Family Applications (1)

Application Number Title Priority Date Filing Date
EP14382029.8A Active EP2902319B1 (fr) 2014-01-30 2014-01-30 Véhicule aérien sans pilote

Country Status (5)

Country Link
US (1) US10589857B2 (fr)
EP (1) EP2902319B1 (fr)
KR (1) KR102252165B1 (fr)
CA (1) CA2872028C (fr)
ES (1) ES2746980T3 (fr)

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CA2872028A1 (fr) 2015-07-30
ES2746980T3 (es) 2020-03-09
US10589857B2 (en) 2020-03-17
KR102252165B1 (ko) 2021-05-14
KR20150090992A (ko) 2015-08-07
EP2902319A1 (fr) 2015-08-05
US20150210388A1 (en) 2015-07-30
CA2872028C (fr) 2018-04-03

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